pcl::internal Namespace Reference

Classes
struct	cloud_point_index_idx
	Used internally in voxel grid classes. More...

Functions
PCL_EXPORTS int	optimizeModelCoefficientsCone (Eigen::VectorXf &coeff, const Eigen::ArrayXf &pts_x, const Eigen::ArrayXf &pts_y, const Eigen::ArrayXf &pts_z)
PCL_EXPORTS int	optimizeModelCoefficientsCylinder (Eigen::VectorXf &coeff, const Eigen::ArrayXf &pts_x, const Eigen::ArrayXf &pts_y, const Eigen::ArrayXf &pts_z)
PCL_EXPORTS int	optimizeModelCoefficientsEllipse3D (Eigen::VectorXf &coeff, const Eigen::ArrayXf &pts_x, const Eigen::ArrayXf &pts_y, const Eigen::ArrayXf &pts_z)
	Internal function to optimize ellipse coefficients.
void	get_ellipse_point (const Eigen::VectorXf &par, float th, float &x, float &y)
	Internal function to compute ellipse point from parametric coefficients and angle.
float	golden_section_search (const Eigen::VectorXf &par, float u, float v, float th_min, float th_max, float epsilon)
	Internal function to find the optimal angle using Golden Section Search.
Eigen::Vector2f	dvec2ellipse (const Eigen::VectorXf &par, float u, float v, float &th_opt)
	Internal function to compute the shortest distance vector from a point to an ellipse.
PCL_EXPORTS int	optimizeModelCoefficientsSphere (Eigen::VectorXf &coeff, const Eigen::ArrayXf &pts_x, const Eigen::ArrayXf &pts_y, const Eigen::ArrayXf &pts_z)

Function Documentation

dvec2ellipse()

Eigen::Vector2f pcl::internal::dvec2ellipse ( const Eigen::VectorXf &  par, float  u, float  v, float &  th_opt  )

inline

Internal function to compute the shortest distance vector from a point to an ellipse.

Parameters

[in]	par	the ellipse coefficients (a, b, 0, 0, 0)
[in]	u	point X coordinate in local frame
[in]	v	point Y coordinate in local frame
[out]	th_opt	the resultant optimal angle on the ellipse

Returns

the distance vector from the point to its projection on the ellipse

Definition at line 103 of file sac_model_ellipse3d.h.

References get_ellipse_point(), golden_section_search(), and M_PI.

get_ellipse_point()

void pcl::internal::get_ellipse_point ( const Eigen::VectorXf &  par, float  th, float &  x, float &  y  )

inline

Internal function to compute ellipse point from parametric coefficients and angle.

Parameters

[in]	par	the parametric coefficients (a, b, h, k, slant)
[in]	th	the angle (in radians)
[out]	x	the resultant X coordinate in local frame
[out]	y	the resultant Y coordinate in local frame

Definition at line 33 of file sac_model_ellipse3d.h.

Referenced by dvec2ellipse(), and golden_section_search().

golden_section_search()

float pcl::internal::golden_section_search ( const Eigen::VectorXf &  par, float  u, float  v, float  th_min, float  th_max, float  epsilon  )

inline

Internal function to find the optimal angle using Golden Section Search.

Parameters

[in]	par	the ellipse coefficients (a, b, 0, 0, 0)
[in]	u	point X coordinate in local frame
[in]	v	point Y coordinate in local frame
[in]	th_min	search interval lower bound
[in]	th_max	search interval upper bound
[in]	epsilon	search convergence tolerance

Returns

the optimal angle (in radians)

Definition at line 55 of file sac_model_ellipse3d.h.

References get_ellipse_point().

Referenced by dvec2ellipse().

optimizeModelCoefficientsCone()

PCL_EXPORTS int pcl::internal::optimizeModelCoefficientsCone	(	Eigen::VectorXf &	coeff,
		const Eigen::ArrayXf &	pts_x,
		const Eigen::ArrayXf &	pts_y,
		const Eigen::ArrayXf &	pts_z
	)

Referenced by pcl::SampleConsensusModelCone< PointT, PointNT >::optimizeModelCoefficients().

optimizeModelCoefficientsCylinder()

PCL_EXPORTS int pcl::internal::optimizeModelCoefficientsCylinder	(	Eigen::VectorXf &	coeff,
		const Eigen::ArrayXf &	pts_x,
		const Eigen::ArrayXf &	pts_y,
		const Eigen::ArrayXf &	pts_z
	)

Referenced by pcl::SampleConsensusModelCylinder< PointT, PointNT >::optimizeModelCoefficients().

optimizeModelCoefficientsEllipse3D()

PCL_EXPORTS int pcl::internal::optimizeModelCoefficientsEllipse3D	(	Eigen::VectorXf &	coeff,
		const Eigen::ArrayXf &	pts_x,
		const Eigen::ArrayXf &	pts_y,
		const Eigen::ArrayXf &	pts_z
	)

Internal function to optimize ellipse coefficients.

optimizeModelCoefficientsSphere()

PCL_EXPORTS int pcl::internal::optimizeModelCoefficientsSphere	(	Eigen::VectorXf &	coeff,
		const Eigen::ArrayXf &	pts_x,
		const Eigen::ArrayXf &	pts_y,
		const Eigen::ArrayXf &	pts_z
	)

Referenced by pcl::SampleConsensusModelSphere< PointT >::optimizeModelCoefficients().